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77 lines
2.3 KiB
77 lines
2.3 KiB
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% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
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%
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function s = char(robot)
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%
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% S = R.char() is a string representation of the robot parameters.
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s = '';
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for j=1:length(robot)
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r = robot(j);
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% informational line
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if r.mdh
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convention = 'modDH';
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else
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convention = 'stdDH';
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end
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s = sprintf('%s (%d axis, %s, %s)', r.name, r.n, config(r), convention);
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% comment and other info
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line = '';
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if ~isempty(r.manufacturer)
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line = strcat(line, sprintf(' %s;', r.manufacturer));
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end
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if ~isempty(r.comment)
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line = strcat(line, sprintf(' %s;', r.comment));
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end
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s = strvcat(s, line);
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% link parameters
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s = strvcat(s, '+---+-----------+-----------+-----------+-----------+');
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s = strvcat(s, '| j | theta | d | a | alpha |');
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s = strvcat(s, '+---+-----------+-----------+-----------+-----------+');
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s = strvcat(s, char(r.links, true));
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s = strvcat(s, '+---+-----------+-----------+-----------+-----------+');
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% gravity, base, tool
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s_grav = horzcat(strvcat('grav = ', ' ', ' '), num2str(r.gravity));
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s_grav = strvcat(s_grav, " ");
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s_base = horzcat(strvcat(" base = ",' ',' ', ' '),num2str(r.base));
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s_tool = horzcat(strvcat(' tool = ',' ',' ', ' '), num2str(r.tool));
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line = horzcat(s_grav, s_base, s_tool);
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s = strvcat(s, ' ', line);
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if j ~= length(robot)
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s = strvcat(s, ' ');
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end
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end
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endfunction
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function v = config(r)
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v = '';
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for i=1:r.n
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v(i) = r.links(i).RP;
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end
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end
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